CN104898658A - Autonomous moving robot and control method thereof - Google Patents
Autonomous moving robot and control method thereof Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
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Abstract
The invention discloses an autonomous moving robot and its control method. The autonomous moving robot includes: a distance sensor; an estimation unit configured to estimate a self position based on a distance measured by the distance sensor and map information; a normal line calculating unit configured to calculate a plane based on the distance and calculate the normal line of the plane; and a determination unit configured to calculate a histogram representing a distribution of normal line angles indicating a direction of the normal line and determines whether information of the distance sensor is insufficient based on the calculated histogram. The autonomous moving robot autonomously moves based on the self position estimated. At least one of a control process of changing a measurement direction of the distance sensor, a process of changing an estimation method of the self position, or a control process of taking a predetermined safety action is performed when the determination unit determines that the information is insufficient.
Description
Technical field
The present invention relates to autonomous mobile robot and control method thereof, this autonomous mobile robot is estimated self-position and is independently moved based on the self-position estimated.
Background technology
Known a kind of autonomous object, it is based on the distance estimations self-position measured by range sensor (No. 2005-157689th, Japanese Unexamined Patent Application Publication (JP 2005-157689 A)).
Such as, when moving in the environment of autonomous object 10 wall that graphic appearance is perpendicular to one another in such as Fig. 2, the relative position on fore-and-aft direction and left and right directions is determined.Correspondingly, autonomous object 10 can estimate self-position with pin-point accuracy.
On the other hand, when autonomous object 10 in such as Fig. 3 graphic only occur in one direction moving in the environment of wall time, determine relative position in the lateral direction, but do not determine relative position in the longitudinal direction.By this way, when the range information of range sensor be in one direction biased and thus not enough time, there is self-position evaluated error will become larger possibility.
Summary of the invention
The invention provides a kind of autonomous mobile robot and control method thereof, this autonomous mobile robot can improve the accuracy of estimation of self-position and improve security.
According to an aspect of the present invention, a kind of autonomous mobile robot is provided.Autonomous mobile robot comprises: range sensor, and it measures the distance of object; Estimation unit, is configured to based on the distance measured by range sensor and indicates the cartographic information of the mobile environment of autonomous mobile robot to estimate self-position; Normal computing unit, is configured to the distance Calculation Plane based on being measured by range sensor, and the normal of Calculation Plane; And determining unit, whether the information of the histogram being configured to calculate the distribution of the normal angle in the direction representing the normal that instruction is calculated by normal computing unit and the range sensor determining estimating self-position based on the histogram calculated is not enough.Based on the self-position estimated by estimation unit, autonomous mobile robot independently moves.When the information of determining unit determination range sensor is not enough, performs the control procedure of the direction of measurement changing range sensor, change the process of the method for estimation of self-position or take at least one in the control procedure of predetermined security initiative.
According to this aspect, when the information of range sensor is not enough, the quantity of information of range sensor is increased by the control procedure performing the direction of measurement changing range sensor, and suppressed the impact of the error of range sensor by the method for estimation changing self-position, thus the accuracy of estimation of self-position can be improved.Also security can be improved by performing the control procedure taking predetermined security initiative.
Can improve self-position accuracy of estimation and can improve security in, when do not occur in the histogram calculated the normal angle with orthogonality relation frequency peak, do not occur equably in the histogram calculated normal angle multiple frequency peak and in the histogram calculated, normal angle does not distribute equably time, the information that determining unit can determine the range sensor estimating self-position is not enough.
According to this aspect, easily tentatively can determine that the quantity of information of range sensor is not enough, tentatively can determine to take some countermeasures based on this thus, such as change the control procedure of the direction of measurement of range sensor, change the process of the method for estimation of self-position and take the control procedure of predetermined security initiative.
In this regard, when the information of determining unit determination range sensor is not enough, estimation unit can calculate based on the distance measured by range sensor the multiple estimated position candidates being estimated as self-position, can be self-position by the location estimation extracted from calculated estimated position candidate, and the number perpendicular to the estimated position candidate on the direction of peak normal angle in histogram can be increased in.
According to this aspect, can improve at relative position not by the accuracy of estimation of the self-position in the vertical direction determined.
In this regard, when the state of the information deficiency of determining unit determination range sensor is maintained predetermined time amount or more time quantum, the control procedure of the direction of measurement changing range sensor can be performed, change the process of the method for estimation of self-position or take at least one in the control procedure of predetermined security initiative.
According to this aspect, the state can promptly tackled due to the information deficiency of range sensor is maintained the evaluated error of predetermined time amount or more time quantum and exaggerated self-position.
In this regard, autonomous mobile robot may further include control module, it is configured to the control procedure performing the direction of measurement changing range sensor, to produce in histogram, there is the frequency peak of the normal angle of orthogonality relation, and perform and take to slow down and the control procedure of predetermined security initiative stopping autonomous mobile robot or give a warning.
The process of the control procedure being changed the direction of measurement of range sensor by execution and the method for estimation changing self-position, with the deficiency of the information of complementary range sensor, can improve the accuracy of estimation of self-position.By self-position loss front reduction gear and stop autonomous mobile robot or give a warning, the loss of self-position can be suppressed.
In this regard, autonomous mobile robot may further include: wheel, and it allows autonomous mobile robot to move; Rotation detecting circuit, it detects the rotation information of wheel; And image acquisition unit, it obtains the image information around autonomous mobile robot.Estimation unit can estimate self-position based on the first method of estimation and the second method of estimation, and when the information of determining unit determination range sensor is not enough, the weight of the second method of estimation can be set to higher than the weight of the first method of estimation by estimation unit, wherein, first method of estimation is based on the Distance geometry cartographic information measured by range sensor, odometry method is used to estimate self-position, second method of estimation is based at least one in the rotation information detected by rotation detecting circuit or the image information obtained by image acquisition unit, odometry method is used to estimate self-position.The weight of the second method of estimation is set to higher than the weight of the first method of estimation, to reduce the impact using and comprise the self-position of the first method of estimation of the error of range sensor, and increase the impact using and do not comprise the self-position of the second method of estimation of the error of range sensor.
According to this aspect, the impact of the error owing to range sensor can be reduced, and self-position can be estimated with pin-point accuracy.
According to a further aspect in the invention, provide a kind of control method of autonomous mobile robot, this autonomous mobile robot comprises range sensor and estimation unit, range sensor measures the distance of object, estimation unit is configured to estimate self-position based on the cartographic information of the mobile environment of the Distance geometry instruction autonomous mobile robot measured by range sensor, and independently moves based on the self-position estimated by estimation unit.The control method of autonomous mobile robot comprises: based on the distance Calculation Plane measured by range sensor, and the normal of Calculation Plane; Calculate the histogram of the distribution of the normal angle in the direction representing the normal that index gauge is calculated, and whether the information determining the range sensor estimating self-position based on the histogram calculated is not enough; And when determining that the information of range sensor is not enough, performing the control procedure of the direction of measurement changing range sensor, changing the process of the method for estimation of self-position or taking at least one in the control procedure of predetermined security initiative.
According to each aspect of the present invention, the accuracy of estimation that can improve self-position and the autonomous mobile robot improving security and its control method can be provided.
Accompanying drawing explanation
With reference to accompanying drawing, below by the feature of description illustrative embodiments of the present invention, advantage and technology and industrial significance, Reference numeral similar in the accompanying drawings refers to similar element, wherein:
Fig. 1 is the block diagram of the system configuration of schematically diagram autonomous mobile robot according to the embodiment of the present invention;
Fig. 2 is that diagram estimates the figure of the situation of self-position based on the range information obtained by measuring vertical wall;
Fig. 3 is that diagram estimates the figure of the situation of self-position based on the range information obtained by only measuring wall on a direction of such as passage;
Fig. 4 is the block diagram of the system configuration of schematically diagram control module according to the embodiment of the present invention;
Fig. 5 is the figure in the direction of the normal of graphic computation;
Fig. 6 is the figure that diagram has the peak normal angle of orthogonality relation;
Fig. 7 is the figure that the situation of multiple peaks normal angle appears in diagram equably;
Fig. 8 is the figure of the situation that diagram normal angle distributes equably;
Fig. 9 is the figure that the situation of a peak normal angle only appears in diagram;
Figure 10 is the process flow diagram of the control procedure stream of the control method of diagram autonomous mobile robot according to the embodiment of the present invention; And
Figure 11 is that diagram execution makes the direction of measurement of range sensor in the face of the figure perpendicular to the situation of the control on the surface of wall surface.
Embodiment
Hereinafter, with reference to accompanying drawing, embodiments of the present invention will be described.Autonomous mobile robot according to the embodiment of the present invention estimates self-position with pin-point accuracy, and independently moves based on the self-position estimated.Fig. 1 is the block diagram of the system configuration of schematically diagram autonomous mobile robot according to the present embodiment.Autonomous mobile robot 1 according to the present embodiment comprises the control module 5 of the range sensor 2 of the distance measuring object, the rotation sensor 3 detecting the rotation information of wheel, the motor 4 driving wheel rotatably and control motor 4.
Range sensor 2 measures the distance (multiple measurement point) of the object of barrier, wall surface and road surface in the mobile environment of such as autonomous mobile robot 1 movement.Range sensor 2 is such as laser sensor or sonac, and is attached to autonomous mobile robot health, with on the direct of travel of autonomous mobile robot 1 towards road surface.Range sensor 2 is such as two-dimensional distance sensor, and it gives off laser beam to scan mobile environment by fluctuation in the horizontal direction.Range sensor 2 exports the range information of measurement to control module 5.
Rotation sensor 3 detects the rotation information (such as rotation angle, angular velocity of rotation and rotating angular acceleration) of wheel and exports the rotation information of detection to control module 5, and wherein wheel allows autonomous mobile robot 1 to move.Motor 4 drives wheel rotatably according to the control signal from control module 5.
Control module 5 controls motor 4 based on the range information exported from range sensor 2 and from the rotation information that rotation sensor 3 exports, and independently moves to allow autonomous mobile robot 1.
At hardware aspect, control module 5 is made up of microcomputer, and microcomputer comprises: CPU (central processing unit) (CPU) 5a performing control procedure, arithmetical operation etc.; Comprise the ROM (read-only memory) (ROM) of control program, arithmetic routine etc. or the storer 5b of random access memory (RAM) that store and performed by CPU 5a; For interface unit (I/F) 5c about outside input and output signal.CPU 5a, storer 5b and interface unit 5c are connected to each other via data bus 5d etc.
When estimating self-position based on the range information measured by range sensor with pin-point accuracy, be necessary to estimate self-position based on enough range informations.Such as, as graphic in fig. 2, when autonomous object 10 estimates self-position based on the range information obtained by measuring wall perpendicular to one another, the relative position on fore-and-aft direction and left and right directions is determined.By this way, when the range information of range sensor is enough, self-position can be estimated with pin-point accuracy.On the other hand, as graphic in figure 3, when autonomous object 10 estimates self-position based on the range information obtained by only measuring wall on a direction of such as passage, relative position is in the lateral direction determined, but relative position in the longitudinal direction is not determined.By this way, when the range information of range sensor is biased in one direction and is not enough, the evaluated error of self-position increases, and such as there is the possibility that self-position will lose.
On the contrary, when determining that the information of range sensor 2 is not enough, autonomous mobile robot 1 according to the present embodiment performs the control procedure of the direction of measurement changing range sensor 2, the process changing the method for estimation of self-position and takes in the control procedure of predetermined security initiative at least one.
Correspondingly, when the information of range sensor 2 is not enough, the quantity of information of range sensor 2 is increased by the control procedure performing the direction of measurement changing range sensor 2, and suppressed the impact of the error of range sensor 2 by the method for estimation changing self-position, thus the accuracy of estimation of self-position can be improved.The control procedure of predetermined security initiative can also be taked to improve security by performing.
In other words, in order to estimate self-position according to the measurement data of range sensor 2 with pin-point accuracy, tentatively can determine that whether the information of range sensor 2 is not enough.When determining that the information of range sensor 2 is not enough, the process of the control procedure of the direction of measurement of range sensor 2 or the method for estimation of change self-position can be changed with undercompensation by execution, improving the accuracy of estimation of self-position.Before losing at self-position, perform the control procedure taking predetermined security initiative, the loss of self-position can be suppressed.
Fig. 4 is the block diagram of the system configuration of schematically diagram control module according to the present embodiment.Control module 5 according to the present embodiment comprises quantity of information determiner 51, self-position estimator 52 and controller 53, whether the quantity of information that quantity of information determiner 51 determines the range sensor 2 estimating self-position is not enough, self-position estimated by self-position estimator 52, and controller 53 controls motor 4 based on the self-position estimated.
Quantity of information determiner 51 is concrete examples of normal computing unit and determining unit, and for carrying out the normal (Fig. 5) of Calculation Plane and Calculation Plane based on the distance measured by range sensor 2.Quantity of information determiner 51 calculates the normal of the plane that the plane that comprises multiple (such as, three) contiguous measurement point and calculating calculate based on the distance measured by range sensor 2.Quantity of information determiner 51 calculates the normal by the measurement point of range sensor 2 measuring distance, and reckoner illustrates the histogram of the normalized number (frequency) in present normal direction (normal angle).Quantity of information determiner 51 extracts the normal angle (peak normal angle) that frequency is peak from the histogram calculated.Quantity of information determiner 51 determines whether (1) occurs having the peak normal angle of orthogonality relation in the histogram calculated, and whether (2) occur multiple peaks normal angle equably, or whether (3) normal angle distributes equably.
(1)
As graphic in figure 6, in the mobile environment occurring vertical wall, the difference between the adjacent peak normal angle in histogram is 90 °, and peak normal angle has orthogonality relation.In this case, because determine relative position relation on fore-and-aft direction and left and right directions, so the accuracy of estimation of self-position is high.
(2)
As graphic in the figure 7, occurring with substantially equal angle, in the mobile environment of multiple wall (but not occurring orthogonal wall), in histogram, occurring multiple peaks normal angle equably.In this case, because determine relative position relation in a plurality of directions, so the accuracy of estimation of self-position is high.
(3)
As graphic in fig. 8, in the mobile environment occurring many free form surfaces, do not occur peak normal angle, but go out the normal of ready-made all normal angle equably, normal angle distributes equably.In this case, because determine relative position relation in a plurality of directions, so the accuracy of estimation of self-position is high.When histogram is under (1) state to (3), quantity of information determiner 51 determines the information enough (not being not enough) of the range sensor 2 estimating self-position.
When determine histogram meet (1) to (3) state and enough for the information of the range sensor 2 estimating self-position time, quantity of information determiner 51 exports the first signal of this fact of instruction to self-position estimator 52.
On the other hand, such as, when in the histogram calculated, the peak normal angle with orthogonality relation is there is not in histogram, multiple peaks normal angle is there is not equably in histogram, or when in histogram, normal angle does not distribute equably (histogram is not under (1) state to (3)), the information that quantity of information determiner 51 determines the range sensor 2 estimating self-position is not enough.
As graphic in fig .9, in the mobile environment of the wall in appearance only a direction, in histogram, only there is a peak normal angle.In this case, relative position is determined in the direction of peak normal angle, but does not determine relative position in other directions.Correspondingly, the evaluated error of self-position increases.When determining that histogram is not under (l) state to (3), quantity of information determiner 51 determines that the information of range sensor 2 is not enough.When histogram is not under (1) state to (3) and when determining that the information of range sensor 2 is not enough, quantity of information determiner 51 exports the secondary signal of this fact of instruction to controller 53.
By this way, such as, even if when range sensor 2 has narrow visual field, by determining histogram whether under (1) state to (3), the character shape required for relative position whether occurring estimating autonomous mobile robot 1 in mobile environment also easily can be determined.
Self-position estimator 52 is concrete examples of estimation unit, and based on the range information exported from range sensor 2 and the cartographic information of mobile environment representing autonomous mobile robot 1, use odometry method to estimate the self-position of autonomous mobile robot 1.Such as, based on the rotation information of wheel representing the cartographic information of predetermined two-dimensional environment, the range information measured by range sensor 2 and measured by rotation sensor 3, self-position estimator 52 estimates self-position by performing matching treatment etc.Such as, prior storing map information in storer 5b.Based on the information that the sensor by autonomous mobile robot 1 detects, self-position estimator 52 can estimate self-position when not using odometry method.
When enough based on the information of the first signal determination range sensor 2 exported from quantity of information determiner 51, self-position estimator 52 performs common self-position based on the range information of range sensor 2 and estimates process.In this case, because comprise the information for determining relative position relation exactly, so self-position estimator 52 can estimate self-position based on the range information of range sensor 2 with pin-point accuracy from the range information of range sensor 2 output.
On the other hand, such as, when not enough based on the information of the secondary signal determination range sensor 2 exported from quantity of information determiner 51, self-position estimator 52 changes the method for estimation of self-position.
Here, based on the range information measured by range sensor 2 and the rotation information of wheel measured by rotation sensor 3, use odometry method, self-position estimator 52 calculates the multiple candidates (hereinafter, estimated position candidate) being estimated as the position of self-position.The location estimation extracted final from the multiple estimated position candidates calculated is self-position by self-position estimator 52.
Self-position estimator 52 calculates multiple estimated position candidate by adjustment estimated parameter.Estimated parameter is error parameter, error (difference on direct of travel, horizontal direction and angle direction) to estimated position during the position of its instruction after estimating to move preset distance.
In fig .9 in graphic example, relative position is determined in the direction (such as, horizontal direction) that histogrammic frequency is high, but do not determine relative position on perpendicular direction (such as, direct of travel).Therefore, self-position estimator 52 adjusts the estimated parameter of self-position, above not increased the number of estimated position candidate by the direction (direct of travel) determined in position.
In this case, by increasing the error parameter on direct of travel, self-position estimator 52 is increased in the number of the estimated position candidate on direct of travel.Particularly, self-position estimator 52 be increased in histogrammic peak normal angle (90 °) ± direction (vertical direction) of 90 ° on the number of estimated position candidate.By this way, by being increased in relative position not by the number of the estimated position candidate on the direction determined, can improve at relative position not by the accuracy of estimation of the self-position on the direction determined.
Although self-position estimator 52 adjusts estimated parameter, autonomous mobile robot 1 moves, and mobile environment is also changed.Correspondingly, such as, when mobile environment changes over graphic mobile environment in Fig. 6 to 8, self-position estimator 52 can use the estimated parameter that adjusts best with more pin-point accuracy to estimate self-position.
When histogram is not under (1) state to (3) and when determining that the state of information deficiency of range sensor is maintained predetermined time amount or more time quantum, quantity of information determiner 51 exports the 3rd signal of this fact of instruction to controller 53.Based on the 3rd signal exported from quantity of information determiner 51, controller 53 performs that (A) changes the control procedure of the direction of measurement of range sensor 2, (B) changes at least one that the process of the method for estimation of self-position and (C) take in the control procedure of predetermined security initiative.
(A)
Controller 53 performs the control procedure changing range sensor 2 direction of measurement based on the 3rd signal exported from quantity of information determiner 51.When the state of the information deficiency of the range sensor 2 for estimating self-position is maintained predetermined time amount or more time quantum, the evaluated error of self-position increases, thus improvement is necessary fast.Correspondingly, controller 53 on one's own initiative (actively) change the direction of measurement of range sensor 2 and the enough such as graphic environment in Fig. 6 to 8 of the information of detection range sensor 2.Controller 53 such as changes the direction of measurement of range sensor 2 in the following manner: control motor 4, to perform the control procedure of rotation (rotation) autonomous mobile robot 1, or execution has the head of range sensor 2 or the control procedure of health about yaw axis rotary setting.
Controller 53 can by driving actuator etc. with the direction of measurement driving range sensor 2 directly to change range sensor 2 rotatably.Controller 53 performs the control procedure of the direction of measurement changing range sensor 2, such as, until histogram enters (1) state to (3).Correspondingly, the information of range sensor 2 becomes enough, thus self-position estimator 52 can estimate self-position with pin-point accuracy.
(B)
Self-position estimator 52 performs the process of the method for estimation changing self-position based on the 3rd signal exported from quantity of information determiner 51.Such as, use and estimate the first method of estimation of self-position based on the distance measured by range sensor 2 and estimate the second method of estimation of self-position based on the rotation information detected by rotation sensor 3, self-position estimated by self-position estimator 52.
More specifically, by using the first method of estimation, self-position estimator 52, based on the range information measured by range sensor 2 and cartographic information, uses odometry method to estimate self-position.By using the second method of estimation, self-position estimator 52, based on the rotation information of the wheel measured by rotation sensor 3, uses odometry method to estimate self-position.Self-position estimator 52 is multiplied by predetermined weight (coefficient) by the self-position use first method of estimation estimated and the self-position that uses the second method of estimation to estimate, estimates final self-position.
When the information of range sensor 2 is not enough, uses and estimate that the self-position that the first method of estimation of self-position is estimated comprises large error based on the range information measured by range sensor 2.On the other hand, the self-position using the rotation information based on the wheel measured by rotation sensor 3 to estimate that the second method of estimation of self-position is estimated is not subject to the error effect of range sensor 2, and has more pin-point accuracy.
Therefore, self-position estimator 52 is set to the weight of the second method of estimation higher than the weight of the first method of estimation, to reduce impact based on the self-position of the first method of estimation and to increase the impact based on the self-position of the second method of estimation.Correspondingly, self-position estimator 52 can reduce the impact of the error of range sensor 2, and can estimate self-position with pin-point accuracy.
When the information of range sensor 2 is not enough, self-position estimator 52 can stop using the first method of estimation to estimate self-position, and can perform use second method of estimation estimation self-position.Such as, as the second method of estimation, based on the image information that video camera is caught, self-position estimator 52 can use odometry method to estimate self-position.The self-position estimated based on the image information of video camera by the error effect of range sensor 2, and has more pin-point accuracy.The image that self-position estimator 52 can be caught based on video camera and the rotation information that rotation sensor 3 is measured, use odometry method to estimate self-position.
(C)
Controller 53 performs based on the 3rd signal exported from quantity of information determiner 51 control procedure taking predetermined security initiative.When the state of the information deficiency of the range sensor 2 for estimating self-position is maintained predetermined time amount or more time quantum, the evaluated error of self-position is large and there is the possibility that self-position will lose.Therefore, controller 53 can perform the control procedure taking predetermined security initiative.
Such as, controller 53 stops self-position estimator 52 to estimate self-position, and controls motor 4 and slow down to perform and stop the control procedure of autonomous mobile robot 1.Controller 53 can use warning unit 6 couples of users to provide warning.The example of warning unit 6 comprises output and warns the lighting device of the voice output of sound, opening/closing emergency warning lamp, shows the display device of warning, produces the vibrating device of warning and vibrating and the communicator user of remote location being provided to warning.Correspondingly, even if when the state of the information deficiency of range sensor 2 is maintained and the evaluated error of self-position increases, the security of autonomous mobile robot 1 also can be ensured.
Figure 10 is the process flow diagram of the control procedure stream of the control method of diagram autonomous mobile robot according to the present embodiment.Repeatedly, such as, every the predetermined short time, perform graphic control procedure stream in Figure 10.
Range sensor 2 measures the distance (step S101) of the object in the mobile environment of autonomous mobile robot 1 movement, and exports the distance of measurement to quantity of information determiner 51 and self-position estimator 52.
Quantity of information determiner 51 calculates the plane comprising the measurement point of multiple vicinity based on the distance measured by range sensor 2, and the normal of the plane calculated (step S102).Quantity of information determiner 51 calculates the normal measuring all measurement point of its distance at range sensor 2, and calculates the histogram (step S103) of normal angle.Quantity of information determiner 51 extracts peak normal angle (step S104) from the histogram calculated.
Quantity of information determiner 51 determines whether (1) occurs having the peak normal angle of orthogonality relation in the histogram calculated, (2) whether occur multiple peaks normal angle equably, or whether (3) normal angle distributes (step S105) equably.
When determining that the peak normal angle of orthogonality relation does not appear having in (1) in the histogram calculated, (2) there is not multiple peaks normal angle equably, and (3) normal angle is not when distributing equably ("No" in step S105), the information that quantity of information determiner 51 determines the range sensor 2 estimating self-position is not enough.In this case, self-position estimator 52 adjusts the estimated parameter for estimating self-position, be increased in peak normal angle in histogram (90 °) ± 90 ° of directions on the number (step S106) of estimated position candidate.
Quantity of information determiner 51 determines whether the state of histogram whether not under (1) state to (3) and for the information deficiency of the range sensor 2 of estimating self-position is maintained the first predetermined time amount or more time quantum (step S107).
When quantity of information determiner 51 determines that the state of the information deficiency of range sensor 2 is maintained the first predetermined time amount or more time quantum ("Yes" in step S107), controller 53 performs the control procedure (step S108) that (A) changes the direction of measurement of range sensor 2.
Now, controller 53 can not perform the control procedure that (A) changes the direction of measurement of range sensor 2, but self-position estimator 52 can perform the process that (B) changes the method for estimation of self-position.Controller 53 performs the control procedure that (A) changes the direction of measurement of range sensor 2, and self-position estimator 52 can perform the process that (B) changes the method for estimation of self-position.Quantity of information determiner 51 determines whether the state of the information deficiency of range sensor 2 is maintained the second predetermined time amount (the second predetermined time amount > first predetermined time amount) or more time quantum (step S109).
When quantity of information determiner 51 determines that the state of the information deficiency of range sensor 2 is maintained the second predetermined time amount or more time quantum ("Yes" in step S109), controller 53 performs the control procedure (step S110) that (C) takes predetermined security initiative.By this way, when the state that have passed through the information deficiency of predetermined time amount and range sensor 2 after being changed at the direction of measurement of range sensor 2 is maintained, the evaluated error of self-position is large, and there is the possibility that self-position will lose.Correspondingly, by taking predetermined security initiative, the loss of self-position is prevented satisfactorily.On the other hand, when quantity of information determiner 51 determines that the information of range sensor 2 is enough ("No" in step S109), process streams moves to following process (step S111).
When in the histogram calculated, the peak normal angle with orthogonality relation appears in (1), (2) there is multiple peaks normal angle equably, or (3) normal angle is when distributing equably ("Yes" in step S105), the information that quantity of information determiner 51 determines the range sensor 2 estimating self-position is enough.In this case, self-position estimator 52, based on the range information exported from range sensor 2 and cartographic information, use odometry method to estimate self-position (step S111), and control procedure stream terminates.
In control procedure stream, when quantity of information determiner 51 determines that the peak normal angle of orthogonality relation does not appear having in (1) in the histogram calculated, (2) there is not multiple peaks normal angle equably, and (3) normal angle is not when distributing equably ("No" in step S105), self-position estimator 52 can not adjust estimated parameter, but the control procedure that (A) changes the direction of measurement of range sensor 2 can be performed immediately, (B) at least one that the process of method of estimation of self-position and (C) take in the control procedure of predetermined security initiative is changed.
In step S105, quantity of information determiner 51 can by determining that the peak normal angle whether (1) occurs having orthogonality relation in the histogram calculated determines that whether the information of range sensor 2 is not enough.Correspondingly, deterministic process can be simplified, thus minimizing assesses the cost.As mentioned above, in autonomous mobile robot 1 according to the present embodiment, based on the distance measured by range sensor 2, quantity of information determiner 51 calculates the histogram of the distribution of the normal angle in the direction of the normal representing instruction plane.Based on the histogram calculated, whether the information that quantity of information determiner 51 determines the range sensor 2 estimating self-position is not enough.When quantity of information determiner 51 determines that the information of range sensor 2 is not enough, perform the control procedure of the direction of measurement changing range sensor 2, change the process of the method for estimation of self-position and take at least one in the control procedure of predetermined security initiative.Correspondingly, when the information of range sensor 2 is not enough, the quantity of information of range sensor 2 is increased by the control procedure performing the direction of measurement changing range sensor 2, and suppressed the impact of the error of range sensor 2 by the method for estimation changing self-position, the accuracy of estimation of self-position can be improved thus.Also the control procedure of predetermined security initiative can be taked to improve security by performing.
The invention is not restricted to above-mentioned embodiment, and can suitably be modified when not departing from its purport.Such as, in the above-described embodiment, range sensor can be the three-dimensional distance sensor obtaining three-dimensional measurement point group.
Quantity of information determiner 51 calculates the plane of such as wall surface based on the three-dimensional measurement point group measured by three-dimensional distance sensor 2, and the normal of the normal calculated.Quantity of information determiner 51 calculates the histogram of the distribution of the normal angle representing the normal calculated.Quantity of information determiner 51 extracts peak normal angle from the histogram calculated.
Quantity of information determiner 51 determines whether (1) occurs having the peak normal angle of orthogonality relation in the histogram calculated.When quantity of information determiner 51 is determined not occur the peak normal angle with orthogonality relation in the histogram calculated, controller 53 performs the control procedure that (A) changes the direction of measurement of range sensor 2.Such as, as graphic in fig. 11, controller 53 performs the control procedure of the direction of measurement directed in orthogonal of range sensor 2 in the surface (dashed area) of wall.In histogram, form the peak normal angle (Fig. 6) with orthogonality relation.Correspondingly, the information of range sensor 2 becomes enough, and self-position estimator 52 can estimate self-position with pin-point accuracy.
In the present invention, graphic process streams in Figure 10 can be implemented by making CPU 5a perform computer program.
Under the state that program is recorded in various types of non-transitory computer-readable medium, program can be provided to computing machine.Non-transitory computer-readable medium comprises various types of tangible media.The example of non-transitory computer-readable medium comprises magnetic recording media (such as floppy disk, tape and hard disk drive), Magnetooptic recording medium (such as magneto-optic disk), CD-ROM (ROM (read-only memory)), CD-R, CD-R/W and semiconductor memory (such as mask model ROM, programming ROM (PROM), erasable PROM (EPROM), flash rom, random access memory (RAM)).
Various types of transitory computer-readable medium can be used to provide program to computing machine.The example of transitory computer-readable medium comprises electric signal, light signal and electromagnetic wave.Transitory computer-readable medium can provide program via the wire communication line of such as electric wire and optical fiber or wireless communication line to computing machine.
Claims (7)
1. an autonomous mobile robot (1), is characterized in that comprising:
Range sensor (2), it measures the distance of object;
Estimation unit (52), the cartographic information be configured to based on the described distance measured by described range sensor and the mobile environment that indicates described autonomous mobile robot estimates self-position;
Normal computing unit, is configured to the described distance Calculation Plane based on being measured by described range sensor, and calculates the normal of described plane; And
Determining unit, be configured to calculate the histogram of the distribution of the normal angle in the direction representing the described normal that instruction is calculated by described normal computing unit, and whether the information determining the described range sensor estimating described self-position based on calculated histogram is not enough
Wherein based on the described self-position estimated by described estimation unit, described autonomous mobile robot independently moves, and
Wherein when described determining unit determines that the described information of described range sensor is not enough, the control procedure performing the direction of measurement changing described range sensor, the process changing the method for estimation of described self-position and take in the control procedure of predetermined security initiative at least one.
2. autonomous mobile robot according to claim 1, it is characterized in that: when the frequency peak of the described normal angle in the histogram in described calculating with orthogonality relation does not occur, not occur equably and when normal angle does not distribute equably described in the histogram of described calculating, the described information that described determining unit determines the described range sensor estimating described self-position is not enough in multiple frequency peak of normal angle described in the histogram of described calculating.
3. autonomous mobile robot according to claim 1 and 2, it is characterized in that: when described determining unit determines that the described information of described range sensor is not enough, described estimation unit is based on the described distance measured by described range sensor, calculate the multiple estimated position candidates being estimated as described self-position, be described self-position by the location estimation extracted from calculated estimated position candidate, and increase the number the estimated position candidate in the direction perpendicular to peak normal angle in described histogram.
4. the autonomous mobile robot according to any one of claims 1 to 3, it is characterized in that: when described determining unit determines that the state of the described information deficiency of described range sensor is maintained predetermined time amount or more time quantum, perform the control procedure of the direction of measurement of the described range sensor of described change, the described self-position of described change method of estimation process and described in take in the control procedure of predetermined security initiative at least one.
5. the autonomous mobile robot according to any one of Claims 1-4, is characterized in that comprising further:
Control module, be configured to the control procedure of the direction of measurement performing the described range sensor of described change, to produce in described histogram, there is the frequency peak of the described normal angle of orthogonality relation, and perform the control procedure of predetermined security initiative taked to slow down and stop described autonomous mobile robot or give a warning.
6. the autonomous mobile robot according to any one of claim 1 to 5, is characterized in that comprising further:
Wheel, it allows described autonomous mobile robot to move;
Rotation detecting circuit, it detects the rotation information of described wheel; And
Image acquisition unit, it obtains the image information around described autonomous mobile robot,
Wherein said estimation unit estimates described self-position based on the first method of estimation and the second method of estimation, and when described determining unit determines the described information deficiency of described range sensor, the weight of described second method of estimation is set to higher than the weight of described first method of estimation, wherein, described first method of estimation is based on cartographic information described in the described Distance geometry measured by described range sensor, odometry method is used to estimate described self-position, described second method of estimation is based at least one in the described rotation information detected by described rotation detecting circuit and the described image information obtained by described image acquisition unit, use described odometry method to estimate described self-position.
7. the control method of an autonomous mobile robot, described autonomous mobile robot comprises range sensor and estimation unit, described range sensor measures the distance of object, described estimation unit is configured to indicate the cartographic information of the mobile environment of described autonomous mobile robot to estimate self-position based on the described Distance geometry measured by described range sensor, and described autonomous mobile robot independently moves based on the described self-position estimated by described estimation unit, the feature of described control method is to comprise:
Based on the described distance Calculation Plane measured by described range sensor, and calculate the normal (S101, S102) of described plane;
Calculate the histogram of the distribution representing the normal angle indicating the direction of normal calculated, and determine the information whether not enough (S105) of the described range sensor estimating described self-position based on the histogram of described calculating; And
When determining that the described information of described range sensor is not enough, the control procedure performing the direction of measurement changing described range sensor, the process changing the method for estimation of described self-position and at least one (S108 taking in the control procedure of predetermined security initiative, S110, S111).
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| JP2014044330A JP5949814B2 (en) | 2014-03-06 | 2014-03-06 | Autonomous mobile robot and control method thereof |
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| JP5949814B2 (en) | 2016-07-13 |
| JP2015170127A (en) | 2015-09-28 |
| CN104898658B (en) | 2017-11-03 |
| US9207674B2 (en) | 2015-12-08 |
| US20150253774A1 (en) | 2015-09-10 |
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